[sot_tiago_bringup] Add missing file geometric_simu_context.launch

sot_tiago_bringup/launch/geometric_simu_context.launch

+<!-- -*-xml-*-
+     Handle ROS simulation of the SoT.
+  -->
+<launch>
+  <!-- Which robot are we controlling ? -->
+  <arg name="robot" default="tiago" />
+  <arg name="libsot" default="libsot-tiago-controller.so" />   
+
+  <!-- BTW we are in simulation ? -->
+
+   <!-- Load robot model. -->
+  <param name="robot_description"
+	 textfile="$(find tiago_data)/urdf/tiago_reduced.urdf" />
+
+
+   <!-- Load robot sot params. -->
+  <rosparam command="load"
+	 file="$(find sot_tiago_bringup)/sot/tiago.yaml" />
+  
+  <machine name="geometric_simu_machine"
+    address="localhost" />
+
+  <!--
+     Read joint_states topic and publish link positions to tf.
+
+     openhrp_bridge publishes encoder values to the joint_states topic
+     therefore, this provide the most reliable way of identifying link
+     relative position on HRP-2.
+    -->
+  <node name="robot_state_publisher"
+	pkg="robot_state_publisher"
+	type="state_publisher"
+	respawn="true">
+    <param name="tf_prefix" value="" />
+  </node>
+
+
+  <!-- Buffer Server -->
+  <node pkg="tf2_ros" type="buffer_server"
+	name="tf2_buffer_server" respawn="true">
+    <param name="buffer_size" value="120.0"/>
+  </node>
+</launch>